KR900702425A - Method for detecting collision and stopping driving in a machine driven by a servo motor - Google Patents

Method for detecting collision and stopping driving in a machine driven by a servo motor

Info

Publication number
KR900702425A
KR900702425A KR1019900700628A KR900700628A KR900702425A KR 900702425 A KR900702425 A KR 900702425A KR 1019900700628 A KR1019900700628 A KR 1019900700628A KR 900700628 A KR900700628 A KR 900700628A KR 900702425 A KR900702425 A KR 900702425A
Authority
KR
South Korea
Prior art keywords
servo motor
machine driven
stopping driving
detecting collision
collision
Prior art date
Application number
KR1019900700628A
Other languages
Korean (ko)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of KR900702425A publication Critical patent/KR900702425A/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34047—Dsp digital signal processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36399—On excess error or on release joystick stop movement, dead man, shut off motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49162—On collision, obstruction reverse drive, accelerate, cancel inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50179—Dynamic tolerance, limit values as function of speed, type of command

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Control Of Electric Motors In General (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control Of Position Or Direction (AREA)
KR1019900700628A 1988-08-11 1990-03-24 Method for detecting collision and stopping driving in a machine driven by a servo motor KR900702425A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP19882388 1988-08-11
JP63328866A JPH02146602A (en) 1988-08-11 1988-12-28 Method for detecting/stopping collision of object to be driven by servo motor
PCT/JP1989/000821 WO1990001732A1 (en) 1988-08-11 1989-08-11 Impingement detection/driving stop method in machine driven by servo motor

Publications (1)

Publication Number Publication Date
KR900702425A true KR900702425A (en) 1990-12-07

Family

ID=26511195

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900700628A KR900702425A (en) 1988-08-11 1990-03-24 Method for detecting collision and stopping driving in a machine driven by a servo motor

Country Status (5)

Country Link
US (1) US5214362A (en)
EP (1) EP0380707A4 (en)
JP (1) JPH02146602A (en)
KR (1) KR900702425A (en)
WO (1) WO1990001732A1 (en)

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US5796221A (en) * 1994-07-14 1998-08-18 Paper Converting Machine Company Overload detector for servo driven machines
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US6289256B1 (en) * 1997-01-16 2001-09-11 Matsushita Electric Industrial Co., Ltd. Method and apparatus for mounting parts
JPH1133960A (en) * 1997-07-17 1999-02-09 Fanuc Ltd Method for controlling robot
DE19756752A1 (en) * 1997-12-19 1999-06-24 Heidenhain Gmbh Dr Johannes Method and circuit arrangement for checking engine brakes
US6246924B1 (en) * 1998-11-30 2001-06-12 Honda Of America Mfg., Inc. Apparatus and method for automatically realigning an end effector of an automated equipment to prevent a crash
US6242879B1 (en) * 2000-03-13 2001-06-05 Berkeley Process Control, Inc. Touch calibration system for wafer transfer robot
JP2000277039A (en) * 1999-03-26 2000-10-06 Toshiba Corp Image display device and manufacture thereof
DE10026991A1 (en) * 2000-05-31 2001-12-13 Bosch Gmbh Robert Method for positioning an externally operated closing surface
DE10226853B3 (en) * 2002-06-15 2004-02-19 Kuka Roboter Gmbh Method for limiting the force of a robot part
US7173390B2 (en) * 2002-08-06 2007-02-06 Assembléon N.V. Method of detecting a malfunction during a displacement of an element by means of a drive system, and device suitable for carrying out such a method
JP2006154998A (en) * 2004-11-26 2006-06-15 Fanuc Ltd Controller
DE102005015317B4 (en) 2005-04-01 2007-02-01 Siemens Ag Method and control device for targeted reaction in contact between a machine element of a machine with an object
DE102007059481A1 (en) * 2007-12-11 2009-06-18 Kuka Roboter Gmbh Method and device for range monitoring of a manipulator
JP5367623B2 (en) * 2010-03-15 2013-12-11 オムロン株式会社 Servo system, servo motor driving device, safety unit, and servo system control method
ITMI20111868A1 (en) * 2011-10-13 2013-04-14 Gima Spa PROCEDURE FOR CONTROL OF INTERFERENCE AND / OR COLLISION OF MECHANICAL ORGANS AND CONNECTED SYSTEM
CN103371837B (en) * 2012-04-27 2017-05-24 Ge医疗系统环球技术有限公司 Anti-collision method and device used for reciprocating motion device
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
EP3218925B1 (en) 2014-11-10 2020-12-30 Brooks Automation, Inc. Tool auto-teach method and apparatus
JP6517567B2 (en) * 2015-03-31 2019-05-22 日本電産サンキョー株式会社 Servo motor control device and collision detection method
EP3579066A1 (en) * 2018-06-06 2019-12-11 Agie Charmilles SA Collision protection method
CN109732599B (en) * 2018-12-29 2020-11-03 深圳市越疆科技有限公司 Robot collision detection method and device, storage medium and robot
JP6620380B1 (en) * 2019-02-12 2019-12-18 株式会社安川電機 Motor control system
CN116392259B (en) * 2023-04-28 2024-06-04 极限人工智能有限公司 Stroke and anti-collision monitoring method and system of co-track double-drive module and robot
CN117891208A (en) * 2024-01-10 2024-04-16 清能德创电气技术（北京）有限公司 Servo system collision detection method and system

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Also Published As

Publication number Publication date
WO1990001732A1 (en) 1990-02-22
US5214362A (en) 1993-05-25
JPH02146602A (en) 1990-06-05
EP0380707A1 (en) 1990-08-08
EP0380707A4 (en) 1992-07-08

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Legal Events

Date Code Title Description
WITN Application deemed withdrawn, e.g. because no request for examination was filed or no examination fee was paid